A hybrid PID control scheme for flexible joint manipulators and a comparison with sliding mode control

Ibrahim, Khalil; Sharkawy, Abdel Badie

doi:10.1016/j.asej.2018.01.004

Cited by 24 publications

(9 citation statements)

References 8 publications

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“…Electric motors have a mechanical subsystem and electrical subsystem, as illustrated in the following dynamic Eqs. (2), and (3), respectively [21]:…”

Section: Modeling Of Four Rigid Link -Flexible Joint Manipulatormentioning

confidence: 99%

“…This has led to much research into developing high-performance control approaches using state-of-the-art control theories. For instance, hybrid PID controller [2], model reference adaptive control [3], nonlinear fractionalorder PID [4], adaptive fuzzy sliding mode control [5], Fuzzy logic self-tuning PID control [6] have been dedicated to the study of flexible-joint robots.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Optimal Trajectory Tracking Control for Four Flexible Joint Robot Manipulator

2022

IJIES

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The Swarm Intelligence Optimization Methods were widely used in science. Animals' swarming behaviour mainly inspires these methods. Conventional optimization for Harris Hawks (HHO) is a recent technique based on the hunting strategy of harris hawks. The parallelism technique was used in this study to try to improve the original version of the algorithm. The improved algorithm sets the parameters of two controllers designed to improve the 4-link flexible joint manipulator's dynamic performance. The integral sliding mode controller controls the flexible joints, and the adaptive output feedback tracking controller controls the rigid links. When the improved algorithm is tested on benchmark functions and compared to other optimization strategies. the results show that the improved algorithm is faster and more precise. The simulation results indicate the improved algorithm's capabilities, with an enhancement percentage of 76.72 percent for the first link and 70.91 percent for the first joint compared to the standard approach.

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“…Electric motors have a mechanical subsystem and electrical subsystem, as illustrated in the following dynamic Eqs. (2), and (3), respectively [21]:…”

Section: Modeling Of Four Rigid Link -Flexible Joint Manipulatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Optimal Trajectory Tracking Control for Four Flexible Joint Robot Manipulator

2022

IJIES

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“…To achieve these goals, various methods using different techniques have been proposed as follows: the flexible-joint controller model was first proposed in the study [9]. Since then, many control methods have been applied to improve the tracking performance of the FJM, such as proportional integral derivative (PID) control [6], [7], linear quadratic regulator (LQR). [17], fuzzy logic control [13], [14], sliding mode control (SMC) [4], [5], backstepping control [15], robust control [11] and neural network control [5], [6].…”

Section: Introductionmentioning

confidence: 99%

Synthesis of sliding mode control for flexible-joint manipulators based on serial invariant manifolds

Thang¹,

Son²,

Khoa³

et al. 2023

Bulletin EEI

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This paper focuses on synthesizing sliding mode control (SMC) for flexible-joint manipulators (FJM) based on serial invariant manifolds in order to increase the control quality for the system. SMC based on the serial invariant manifolds is proposed. The control law is found based on synergetic control theory (SCT) and analytical design of aggregated regulators (ADAR) method. In order to improve the control quality due to the effect of the stiffness value between two links in the system, a mechanism for constructing manifolds is built. The time response of the outer loop manifolds close to the actuator will be larger in the next round. The control quality of the system can be pre-evaluated through the parameters of the designed manifolds. Global stability is demonstrated by using the Lyapunov function in the design process. Finally, the effectiveness of the proposed controller based on SCT is demonstrated by numerical simulation results and compared with the traditional SMC.

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“…The control methods mainly include PID (Proportion Integral Differential), fuzzy control, neural network control, and so on. In literature [23], the hybrid PID control strategy is used to control the manipulator flexible joint. In literature [24], fuzzy rules are proposed to optimize the PID control parameters, so that the anthropomorphic manipulator can obtain a stable angle output.…”

Section: Introductionmentioning

confidence: 99%

Vibration Suppression Method for Dual-flexible Manipulator Considering Bearing Friction Based on Adaptive PI Control Strategy with Nonlinear Disturbance Observer

Shang

Yin

et al. 2022

Preprint

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A manipulator that contains both flexible joints and flexible loads is called a dual-flexible manipulator. The vibration of dual-flexible manipulators is affected by the bearing friction torque and the double flexibilities. This vibration phenomenon will reduce the motion accuracy in dual-flexible manipulators. In this study, an adaptive PI control strategy using a nonlinear disturbance observer (DOB) is proposed to reduce speed fluctuations of the servo system, thereby suppressing the vibration. Firstly, the mechanical model of the dual-flexible manipulator considering bearing frictions is established. Then, the adaptive law of the PI controller is proposed by the Lyapunov stability theorem. The optimal values of controller parameters are obtained by the adaptive law. Finally, the numerical simulation and control experiments of the dual-flexible manipulator prove that the control strategy can powerfully reduce the vibration. The experimental results show that the control strategy can reduce the acceleration in the vibration sensitive direction of the flexible manipulator by 41.78% compared with the PI control strategy.

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A hybrid PID control scheme for flexible joint manipulators and a comparison with sliding mode control

Cited by 24 publications

References 8 publications

Adaptive Optimal Trajectory Tracking Control for Four Flexible Joint Robot Manipulator

Adaptive Optimal Trajectory Tracking Control for Four Flexible Joint Robot Manipulator

Synthesis of sliding mode control for flexible-joint manipulators based on serial invariant manifolds

Vibration Suppression Method for Dual-flexible Manipulator Considering Bearing Friction Based on Adaptive PI Control Strategy with Nonlinear Disturbance Observer

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